Omron CJ1W-MA - REV 10-2008, Operation Manual

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DEVIATION COUNTER RESET Section 10-10
10-10-2 Using DEVIATION COUNTER RESET
DEVIATION COUNTER RESET is executed by turning ON the DEVIATION
COUNTER RESET Bit in the Axis Operating Output Area to execute a move-
ment command that effectively cancels the position deviation.
DEVIATION COUNTER RESET executes position control according to the
position deviation at a maximum speed of 128,000. If the accumulated posi-
tion deviation is large, processing time equivalent to several MECHATROLINK
communications cycles will be required to complete resetting the deviation
counter.
Example
MECHATROLINK communications cycle: 2 ms
Position deviation: 800 (command units)
The movement command executed for DEVIATION COUNTER RESET will be
as shown below for the above conditions. The direction will be so that the
position deviation is eliminated.
In this example, the movement command to eliminate the position deviation of
800 command units exceeds the movement possible in one MECHATROLINK
communications cycle at a speed of 128,000 command units/s, so the com-
mand is executed over multiple cycles (four total).
When DEVIATION COUNTER RESET is executed, the torque limit does not
depend on the setting of the Torque Limit Designation Bit, but on the status in
the previous axis operation. (The previous torque limit status is continued, and
DEVIATION COUNTER RESET is executed.)
Axis Operating Output Area (Operation Commands)
a = Beginning word of Axis Operating Output Area specified in Common Para
(Axis No.
−
1) x 25
A deviation counter reset can be executed for any axis for which position con-
trol that includes a Servo lock is being executed, as long as there is no axis
error, the Servo is locked, and the Servo Unlock Bit is not ON. The command
is invalid if executed during speed control or torque control, or when the Servo
is unlocked.
When executing a deviation counter reset, keep the Deviation Counter Reset
Bit ON until Receiving Command Flag turns ON in the Axis Operating Output
Area or until the Busy Flag is turned OFF.
DEVIATION COUNTER RESET Bit
(word a, bit 13)
Command speed
128,000 command units/s
The following command is executed for a position
deviation of 800 command units/s: 128,000
command units/s
×
0.002 s/cycle
×
3
16,000 command units/s
×
0.002 s/cycle
×
1 cycle
16,000 command units/s
MECHATROLINK
communications cycle
(example: 2 ms)
Time
In this example, four MECHATROLINK
communications cycles are required to process
DEVIATION COUNTER RESET.
Name Word Bit Description
DEVIATION COUNTER
RESET Bit a 13 0
→
1: Deviation counter reset started.